Remotely controlled articulatable hydraulic cutter apparatus

Abstract

A remotely controlled, hydraulically operated cutter apparatus for use in a conduit includes control panel for generating a plurality of control signals for controlling the operation and a source of pressurized hydraulic fluid. Valves are provided for receiving both the pressurized fluid and the control signals, and for distributing the received fluid in accordance with the received control signals. A hydraulically powered cutter motor located within the conduit and including a cutting tool receives hydraulic fluid from the valves for driving the cutting tool. The cutter motor is supported within the conduit by a structural unit. A first hydraulically actuated cylinder is included for receiving hydraulic fluid from the valves and for centering and holding the structural unit in a fixed axial position within the conduit. Second, third, fourth and fifth hydraulically actuated cylinders are provided for adjusting the axial and radial position of the cutter motor, for rotating the cutter motor and for adjusting the angular position of the cutter motor to facilitate cutting by the cutting tool.

I claim: 
     
       1. A remotely controlled, articulatable hydraulically operated cutter apparatus for use within a conduit having an axis, the cutter apparatus comprising: control means located outside of the conduit for generating a plurality of control signals for controlling the operation of the cutter apparatus;   three structural units located within the conduit and sequentially coupled together end to end for concurrent movement within the conduit;   a first of said structural units including a source of pressurized hydraulic fluid;   a second of said structural units including valve means in fluid communication with the fluid source and connected with the control means for receiving pressurized hydraulic fluid from the fluid source and the control signals from the control means and for distributing the received hydraulic fluid in accordance with the received control signals;   the third of said structural units comprising a cutter supporting subassembly, a holder subassembly and a cutter positioning subassembly;   a hydraulically powered cutter motor pivotally supported by the cutter supporting subassembly and extending along an axis generally perpendicular to the axis of the conduit, the cutter motor including a cutting tool, said cutter motor being in fluid communication with the valve means and receiving hydraulic fluid from the valve means for driving the cutting tool;   first hydraulically actuated means comprising a single hydraulic cylinder within the holder subassembly and in fluid communication with the valve means for receiving hydraulic fluid from the valve means for axially centering the third structural unit within the conduit and for holding the third structural unit at a fixed axial position within the conduit as long as the received hydraulic fluid exceeds a predetermined minimum;   second hydraulically actuated means within the cutter positioning subassembly and in fluid communication with the valve means for receiving hydraulic fluid from the valve means for varying the axial position of the cutter motor with respect to the third structural unit in accordance with the received hydraulic fluid;   third hydraulically actuated means within the cutter positioning subassembly and in fluid communication with the valve means for receiving hydraulic fluid from the valve means for varying the radial position of the cutter motor with respect to the third structural unit in accordance with the received hydraulic fluid;   fourth hydraulically actuated means within the cutter positioning subassembly and in fluid communication with the valve means for receiving hydraulic fluid from the valve means for rotating the cutter motor up to 180 degrees about the axis of the conduit in either a clockwise or counterclockwise direction with respect to an initial position in accordance with the received hydraulic fluid; and   fifth hydraulically actuated means within the cutter supporting subassembly and in fluid communication with the valve means for receiving hydraulic fluid from the valve means for pivoting the cutter motor about the axis extending generally perpendicular to the axis of the conduit, the first, second, third, fourth and fifth hydraulically actuated means cooperating to position the cutter motor in accordance with the control signals to facilitate the cutting by the cutting tool.   
     
     
       2. The apparatus as recited in claim 1 wherein the valve means comprises: manifold means with the second structural unit including an inlet port in fluid communication with the fluid source for receiving the pressurized fluid from the fluid source, an outlet port in fluid communication with the fluid source for transmitting fluid to the fluid source and a plurality of fluid transfer ports in fluid communication with the cutter motor and the first, second, third, fourth and fifth hydraulically actuated means for transmitting pressurized hydraulic fluid to and for receiving return hydraulic fluid from the cutter motor and the first, second, third, fourth and fifth hydraulically actuated means;   a plurality of electrically operated solenoid valves coupled with the manifold means and connected to the control means for selectively directing the hydraulic fluid between the manifold means inlet and outlet ports and the manifold means transfer ports in accordance with the received control signals; and   conduit means connected to the manifold means fluid transfer ports for conducting hydraulic fluid between the manifold means and the cutter motor, and the first, second, third, fourth and fifth hydraulically actuated means.   
     
     
       3. The apparatus as recited in claim 2 wherein the conduit means for conducting hydraulic fluid between the manifold means and each of the cutter motor, second, third, fourth and fifth hydraulically actuated means includes a plurality of first tubular members of a first diameter and a corresponding plurality of second tubular members of a second diameter greater than the first diameter, each of said second tubular members at least partially surrounding and being slideably movable with respect to a corresponding one of said first tubular members, one of said pluralities of tubular members being secured to a portion of the cutter positioning subassembly which is fixed with respect to the third structural unit and the other of said pluralities of tubular members being secured to a portion of the cutter positioning subassembly which is axially movable with the cutter motor with respect to the third structural unit so that axial movement of the cutter motor with respect to the third structural unit results in axial telescoping movement of said other plurality of tubular members with respect to said one plurality of tubular members to vary the axial length of said conduit means. 
     
     
       4. The apparatus as recited in claim 3 further including sealing means on said other plurality of tubular members for sealing the joints between said first and second tubular members. 
     
     
       5. The apparatus as recited in claim 3 wherein said first tubular members are secured to said fixed portion of the cutter positioning subassembly and said second tubular members move telescopingly with respect to said first tubular members. 
     
     
       6. The apparatus as recited in claim 5 and further including means communicating with the valve means of adding hydraulic fluid to said first tubular members when said axial telescoping movement of said second tubular members extends the length of said conduit means, and means communicating with the valve means for removing hydraulic fluid from said first tubular members when said axial telescoping movement of said second tubular members shortens the length of said conduit means, the addition or removal of hydraulic fluid to compensate for changes in the length of said conduit means, while maintaining a substantially constant fluid pressure. 
     
     
       7. The apparatus as recited in claim 1 wherein the cutter positioning subassembly comprises a generally tubular outer housing having a first predetermined diameter and a generally tubular inner housing having a second predetermined diameter, the inner housing and outer housing having a common axis, the inner housing extending at least partially into the outer housing and being adapted for relative axial movement with respect to the outer housing and wherein the outer housing includes at least three supporting skid subassemblies position at circumferentially spaced locations, the skid subassemblies all being concurrently movable by the first hydraulically actuated means between a retracted position proximate the outer housing and a radially extended position, the skid subassemblies each being adapted to engage the conduit for centering and holding the third structural unit when in the extended position. 
     
     
       8. The apparatus as recited in claim 7 wherein each said subassembly is comprised of: an elongated skid member extending generally parallel to the outer housing;   at least one bell crank member having two legs, the bell crank member being pivotally secured to the outer housing proximate the intersection of the two legs, one leg of the bell crank member being pivotally secured to the skid member; and   an elongated power transmission member extending generally parallel to the tubular housing, the power transmission member being pivotally secured to the other leg of the bell crank member, the power transmission member also being secured to the first hydraulically actuated means, whereby the receipt of hydraulic fluid by the first hydraulically actuated means causes the power transmission member to move axially, rotating the bell crank member to thereby move the skid member radially.   
     
     
       9. The apparatus as recited in claim 8 wherein at least one skid member includes a pair of wheels, one wheel being rotatably supported proximate each axial end of the skid member. 
     
     
       10. The apparatus as recited in claim 1 further including a cutter motor housing which surrounds and supports the cutter motor and a pair of generally parallel supports arms, the support arms being secured on one end of the cutter supporting subassembly, the other end of the support arm pivotally supporting the cutter motor housing. 
     
     
       11. The apparatus as recited in claim 10 wherein the cutter motor housing includes a lug member which is pivotally connected to the fifth hydraulically actuated means. 
     
     
       12. The apparatus as recited in claim 11 wherein the fifth hydraulically actuated means comprises a hydraulic cylinder having a piston and piston rod, the hydraulic cylinder being pivotally secured to the parallel support arms and the piston rod being pivotally secured to the lug member, whereby the application of hydraulic fluid to the hydraulic cylinder causes the piston to translate, thereby pivoting the cutter motor housing and cutter motor with respect to the support arms. 
     
     
       13. The apparatus as recited in claim 10 wherein the parallel support arms are pivotally secured on the one end to the cutter supporting subassembly and further comprising an elongated linking member pivotally secured on one end to the supports arms at a position removed from the one end, the other end of the linking member being pivotally secured to the third hydraulically actuated means, whereby the receipt of hydraulic fluid by the third hydraulically actuated means causes the linking member to pivot, thereby varying the radial position of the parallel support arms, the cutter motor housing and the cutter motor with respect to the third structural unit. 
     
     
       14. The apparatus as recited in claim 1 wherein the source of pressurized hydraulic fluid is comprised of an electrically powered motor, a hydraulic pump driven by the electric motor and a hydraulic fluid reservoir in fluid communication with the pump, and wherein the control means comprises means for supplying electrical power to the motor and means for varying the voltage of the electrical power supplied to the motor to vary both the motor speed and pump speed to vary the pressure of the hydraulic fluid. 
     
     
       15. The apparatus as recited in claim 1 wherein the control means comprises an elongated analog indicator means communicating with the cutter positioning subassembly for indicating to the operator the axial location of the cutting tool with respect to the third structural unit. 
     
     
       16. The apparatus as recited in claim 15 wherein the control means further includes movable marker means cooperating with the indicator means for providing means to identify for the operator determined limits for the axial movement of the cutting tool. 
     
     
       17. The apparatus as recited in claim 1 wherein the cutter motor is pivoted with respect to the third structural unit so that the cutting tool is generally parallel with the axis of the conduit. 
     
     
       18. The apparatus as recited in claim 17 wherein the cutting tool is generally annular.